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| template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType > |
| PINOCCHIO_DEPRECATED DataTpl< Scalar, Options, JointCollectionTpl >::Matrix3x & | computeStaticRegressor (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, DataTpl< Scalar, Options, JointCollectionTpl > &data, const Eigen::MatrixBase< ConfigVectorType > &q) |
| | Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot. More...
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template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
| PINOCCHIO_DEPRECATED DataTpl<Scalar,Options,JointCollectionTpl>::Matrix3x& pinocchio::regressor::computeStaticRegressor |
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const ModelTpl< Scalar, Options, JointCollectionTpl > & |
model, |
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DataTpl< Scalar, Options, JointCollectionTpl > & |
data, |
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const Eigen::MatrixBase< ConfigVectorType > & |
q |
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inline |
Computes the static regressor that links the center of mass positions of all the links to the center of mass of the complete model according to the current configuration of the robot.
- Template Parameters
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| JointCollection | Collection of Joint types. |
| ConfigVectorType | Type of the joint configuration vector. |
- Parameters
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| [in] | model | The model structure of the rigid body system. |
| [in] | data | The data structure of the rigid body system. |
| [in] | q | The joint configuration vector (dim model.nq). |
- Returns
- The static regressor of the system.
- Deprecated:
- This function is now in the main pinocchio namespace
Definition at line 176 of file regressor.hpp.